Merge pull request #112 from nabeya11/kinetic-devel

Rviz shows "Uninitialized quaternion, assuming identity."
OctoMap · Mar 24, 2024 · 93d5a49 · 93d5a49
2 parents c77ea44 + 86221ea
commit 93d5a49
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/octomap_server/src/OctomapServer.cpp b/octomap_server/src/OctomapServer.cpp
@@ -652,6 +652,10 @@ void OctomapServer::publishAll(const ros::Time& rostime){
       occupiedNodesVis.markers[i].scale.x = size;
       occupiedNodesVis.markers[i].scale.y = size;
       occupiedNodesVis.markers[i].scale.z = size;
+      occupiedNodesVis.markers[i].pose.orientation.x=0;
+      occupiedNodesVis.markers[i].pose.orientation.y=0;
+      occupiedNodesVis.markers[i].pose.orientation.z=0;
+      occupiedNodesVis.markers[i].pose.orientation.w=1;
       if (!m_useColoredMap)
         occupiedNodesVis.markers[i].color = m_color;